Back to Search
Start Over
Open-Loop Neuromorphic Controller Implemented on VLSI Devices
- Source :
- BioRob, 2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob)
- Publication Year :
- 2018
- Publisher :
- IEEE, 2018.
-
Abstract
- An ever increasing amount of robotic platforms are being equipped with a new generation of neuromorphic computing architectures. Neuromorphic computing systems represent a promising brain-inspired technology that use asynchronous pulses to encode, transmit, and process sensory signals, typically implemented in compact low-latency and low-power devices. However, although multiple examples of sensing and processing neuromorphic devices have been successfully deployed on robotic platforms, no example of event-based neuromorphic motor controller has been proposed yet. In this paper, we present an open-loop neuromorphic controller implemented using a full-custom spiking neural network VLSI chip interfaced to motors for performing position control. The proposed controller is based on biologically inspired principles by which the discharge of motor-neuron populations produces muscle contractions. Following these principles, we use the spikes of the silicon neurons present in the neuromorphic chip to encode the target position and drive the motors using Pulse Frequency Modulation (PFM) technique, rather than the more traditional Pulse Width Modulation (PWM) one.
- Subjects :
- Very-large-scale integration
Spiking neural network
Pulse-frequency modulation
business.industry
Controller (computing)
020208 electrical & electronic engineering
2210 Mechanical Engineering
Open-loop controller
2204 Biomedical Engineering
1702 Artificial Intelligence
02 engineering and technology
Motor controller
Neuromorphic engineering
0202 electrical engineering, electronic engineering, information engineering
570 Life sciences
biology
020201 artificial intelligence & image processing
Sociology
business
Pulse-width modulation
Computer hardware
10194 Institute of Neuroinformatics
Subjects
Details
- ISBN :
- 978-1-5386-8183-1
- ISBNs :
- 9781538681831
- Database :
- OpenAIRE
- Journal :
- 2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob)
- Accession number :
- edsair.doi.dedup.....1e47d393cf5a77a663e8139e80f97eb6